Abstract:Most servo systems in power line inspection robots consist of a motor, an independent joint, and a load. In the process of crossing obstacles, the parameters in the servo systems have conspicuous time-varying properties due to the posture changes. The time-varying properties of dynamic parameters and the flexibility of the load would cause the rotation speed of the inspection robot to fluctuate, thereby affecting the motion accuracy. In this paper, the pole placement strategy was proposed to optimize the param… Show more
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